Communications of the ACM
Controlling dynamic simulation with kinematic constraints
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Goal-directed, dynamic animation of human walking
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
A global human walking model with real-time kinematic personification
The Visual Computer: International Journal of Computer Graphics - Special issue on computer animation 1989/90
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Simulating humans: computer graphics animation and control
Simulating humans: computer graphics animation and control
IEEE Computer Graphics and Applications
Animating Human Locomotion with Inverse Dynamics
IEEE Computer Graphics and Applications
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New applications in virtual reality, robotics and medicine are impelling the dynamics-based methods for the human body simulation. The dynamics allows to establish global solutions of motion in virtual autonomous agents, in the locomotion of biped robots and in the development of intelligent prosthesis for motor disabilities recovery. This paper presents the conceptual design of a software laboratory for the study, development and verification of dynamictechniques of motion control and human body representation. The main idea of this work is the use, as basic pattern of motion, of the direct solution of very simple dynamic models governed by a finite state machine. These models are developed, specializing, linked and solved using empirical laws of the real movement. The visualization improved the final result, applying kinematics over the basic pattern of motion. As an example of laboratory application, this paper describes the previous work, developments and results obtained in the simulation of human locomotion. The whole set of software tools, derived from the laboratory concept design, has been completely developed and implemented. These tools could be modified and customized in some of the suggested future works.